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Line Following Flowchart

Here is the line following flowchart from class on 10/31/08 (Blue Cohort):

We assumed line is white on dark background, robot starts in straddling position, uses RF & LF cliff sensors.

And here is a neater version from last year...

This assumes black line on white background. Where it says "left sensor black?" and "right sensor black?", it should actually read "left front sensor black?" and "right front sensor black?: